Installation manual

Chapter 8 PA Library
8-117
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Function:
Acquires current arm information.
Syntax:
long pa_get_sts(ARM armno, ARMSTATUSP asts);
armno Arm number (No.)
asts Current arm information
Explanation:
armno Acquires current arm information of “armno”.
asts.max
Board controllable arm numbers 1or2
asts.arm
Arm identification number 0or1
asts.axis
Arm axis numbers
asts.typ
Arm type
asts.drv
Servo driver classification
asts.dio
Expansion DIO board exist / not exist
asts.remote
operation mode (valid / invalid)
asts.count
Control counter value
asts.error
Error code
asts.angle.s1
Current S1 axis value
:
asts.angle.w2 Current W2 axis value
asts.noap[0][0]
Current tip orientation matrix
:
asts.noap[2][3] Current tip position matrix (Z)
asts.ypr[0]
Current orientation (TAW)
:
When command processing is finished, the controller computes by adding the
count of the inner variable. With this function, comparing inner variable before and
after issuing command, users can recognize processing termination for command.
. This inner variable is “asts.count”.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_cnt
pa_get_err
pa_get_agl
pa_get_xyz
pa_get_noa
pa_get_ypr